flexbe / generic_flexbe_states Goto Github PK

Hi,

I suggest making action_topic field a state param to support overriding default action topic ('/move_base') This would allow in case move_base is in a different namespace etc.

If you think this is worthwhile enhancement I'm happy to make a PR for this.

When using the srdf_state_to_moveit.py and the move group times out the code should throw an error. However, the code now utilizes Logger.logerror which should be Logger.logerr

ile "/home/maarten/catkin_ws/src/generic_flexbe_states/flexbe_manipulation_states/src/flexbe_manipulation_states/srdf_state_to_moveit.py", line 63, in init
Logger.logerror('Unable to get parameter: /robot_description_semantic')

AttributeError: type object 'Logger' has no attribute 'logerror'

For GetJointValuesState and GetJointValuesDynState a state can block indefinitely if parameter values are not published.

I propose adding an optional time out parameter (default: None) that will return a 'timeout' outcome.
If no timeout value is given, then will block indefinitely.

I propose doing this in a kinetic_devel branch to avoid conflicts with existing indigo code.

There are several files with similar names in manipulation_states that operate differently.

I propose to implement the following changes in a kinetic_devel branch

1. GetJointsFromSrdfGroup --> GetJointNamesFromSrdfGroupState

• Add srdf_name parameter that defaults to "/robot_description_semantic"
• Name as "State" for consistency with other implementations

2. GetJointsFromSrdfState --> GetJointValuesFromSrdfFileState

• Specify that this is reading from file
• Specify we are getting joint values from named configuration

3. Create new GetJointValuesFromSrdfState

• Use srdf_name and read from parameter server (otherwise same as 2)